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<h1>NVIDIA PhysX SDK 4.1 Documentation<a class="headerlink" href="#nvidia-physx-sdk-release-documentation" title="Permalink to this headline">¶</a></h1>
<img alt="_images/PhysXLogoBlack.png" src="_images/PhysXLogoBlack.png" />
<p>Built April 23, 2021</p>
<p>Contents:</p>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="Manual/Index.html">User's Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="Manual/License.html">PhysX License</a></li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Introduction.html">Welcome to PhysX</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Introduction.html#about-this-user-guide">About this User Guide</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Introduction.html#a-brief-overview-of-physx">A brief overview of PhysX</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Introduction.html#world-and-objects">World and Objects</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Introduction.html#rendering-and-visualization">Rendering and Visualization</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/HelloWorld.html">Snippets</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/HelloWorld.html#what-are-physx-snippets">What are PhysX Snippets?</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/HelloWorld.html#helloworld-physx-basics">HelloWorld: PhysX Basics</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/HelloWorld.html#using-physx-visual-debugger-with-snippethelloworld">Using PhysX Visual Debugger with SnippetHelloWorld</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/BuildingWithPhysX.html">Building with PhysX</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/BuildingWithPhysX.html#generating-projects-with-cmake">Generating projects with CMake</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BuildingWithPhysX.html#build-configurations">Build Configurations</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BuildingWithPhysX.html#header-files">Header Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BuildingWithPhysX.html#redistribution">Redistribution</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BuildingWithPhysX.html#customize-cmake-presets">Customize CMake presets</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/API.html">The PhysX API</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#memory-management">Memory Management</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#error-reporting">Error Reporting</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#math-classes">Math Classes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#connecting-physx-objects-with-user-application-objects">Connecting PhysX Objects with User Application Objects</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#type-casting">Type Casting</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#reference-counting">Reference Counting</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#using-different-units">Using Different Units</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#assertions">Assertions</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/API.html#determinism">Determinism</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Startup.html">Startup and Shutdown</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Startup.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Startup.html#foundation-and-physics">Foundation and Physics</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Startup.html#cooking">Cooking</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Startup.html#extensions">Extensions</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Startup.html#optional-sdk-components">Optional SDK Components</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Startup.html#delay-loading-dlls">Delay-Loading DLLs</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Startup.html#shutting-down">Shutting Down</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Threading.html">Threading</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Threading.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Threading.html#data-access-from-multiple-threads">Data Access from Multiple Threads</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Threading.html#asynchronous-simulation">Asynchronous Simulation</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Threading.html#multithreaded-simulation">Multithreaded Simulation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Geometry.html">Geometry</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Geometry.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Geometry.html#geometry-types">Geometry Types</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Geometry.html#deformable-meshes">Deformable meshes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Geometry.html#mesh-scaling">Mesh Scaling</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Geometry.html#pxgeometryholder">PxGeometryHolder</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Geometry.html#vertex-and-face-data">Vertex and Face Data</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/RigidBodyOverview.html">Rigid Body Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyOverview.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyOverview.html#rigid-body-object-model">Rigid Body Object Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyOverview.html#the-simulation-loop">The Simulation Loop</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/RigidBodyCollision.html">Rigid Body Collision</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#shapes">Shapes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#simulation-shapes-and-scene-query-shapes">Simulation Shapes and Scene Query Shapes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#kinematic-triangle-meshes-planes-heighfields">Kinematic Triangle Meshes (Planes, Heighfields)</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#broad-phase-algorithms">Broad-phase Algorithms</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#regions-of-interest">Regions of Interest</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#broad-phase-callback">Broad-phase Callback</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#collision-filtering">Collision Filtering</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#aggregates">Aggregates</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#creating-an-aggregate">Creating an Aggregate</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#populating-an-aggregate">Populating an Aggregate</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#releasing-an-aggregate">Releasing an Aggregate</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#amortizing-insertion">Amortizing Insertion</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#trigger-shapes">Trigger Shapes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyCollision.html#interactions">Interactions</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/RigidBodyDynamics.html">Rigid Body Dynamics</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#velocity">Velocity</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#mass-properties">Mass Properties</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#applying-forces-and-torques">Applying Forces and Torques</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#gravity">Gravity</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#friction-and-restitution">Friction and Restitution</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#sleeping">Sleeping</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#kinematic-actors">Kinematic Actors</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#active-actors">Active Actors</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#dominance">Dominance</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#solver-iterations">Solver Iterations</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#immediate-mode">Immediate Mode</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#enhanced-determinism">Enhanced Determinism</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#axis-locking">Axis locking</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/RigidBodyDynamics.html#temporal-gauss-seidel">Temporal Gauss-Seidel</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Simulation.html">Simulation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Simulation.html#callback-sequence">Callback Sequence</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Simulation.html#simulation-memory">Simulation memory</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Simulation.html#completion-tasks">Completion Tasks</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Simulation.html#synchronizing-with-other-threads">Synchronizing with Other Threads</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Simulation.html#substepping">Substepping</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Simulation.html#split-sim">Split sim</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Simulation.html#split-fetchresults">Split fetchResults</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html">Advanced Collision Detection</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html#tuning-shape-collision-behavior">Tuning Shape Collision Behavior</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html#contact-modification">Contact Modification</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html#contact-reporting">Contact reporting</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html#extracting-contact-information">Extracting Contact information</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html#continuous-collision-detection">Continuous Collision Detection</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html#raycast-ccd">Raycast CCD</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html#speculative-ccd">Speculative CCD</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/AdvancedCollisionDetection.html#persistent-contact-manifold-pcm">Persistent Contact Manifold (PCM)</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Joints.html">Joints</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Joints.html#joint-basics">Joint Basics</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Joints.html#fixed-joint">Fixed Joint</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Joints.html#spherical-joint">Spherical Joint</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Joints.html#revolute-joint">Revolute Joint</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Joints.html#prismatic-joint">Prismatic Joint</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Joints.html#distance-joint">Distance Joint</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Joints.html#d6-joint">D6 Joint</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Joints.html#custom-constraints">Custom Constraints</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Articulations.html">Articulations</a></li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Articulations.html#maximal-coordinate-and-reduced-articulations">Maximal Coordinate and Reduced Articulations</a></li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Articulations.html#maximal-coordinate-articulations">Maximal Coordinate Articulations</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#creating-an-articulation">Creating an Articulation</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#articulation-joints">Articulation Joints</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#driving-an-articulation">Driving an Articulation</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#articulation-projection">Articulation Projection</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#articulations-and-sleeping">Articulations and Sleeping</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Articulations.html#reduced-coordinate-articulations">Reduced Coordinate Articulations</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#creating-a-reduced-coordinate-articulation">Creating a Reduced Coordinate Articulation</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#id2">Articulation Joints</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#joint-positions-and-velocities">Joint positions and velocities</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#pxarticulationcache">PxArticulationCache</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Articulations.html#inverse-dynamics">Inverse Dynamics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/OriginShift.html">Scene Origin</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/OriginShift.html#shifting-the-scene-origin">Shifting The Scene Origin</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/GPURigidBodies.html">GPU Rigid Bodies</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/GPURigidBodies.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GPURigidBodies.html#using-gpu-rigid-bodies">Using GPU Rigid Bodies</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GPURigidBodies.html#what-is-gpu-accelerated">What is GPU accelerated?</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GPURigidBodies.html#tuning">Tuning</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GPURigidBodies.html#performance-considerations">Performance Considerations</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/GeometryQueries.html">Geometry Queries</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/GeometryQueries.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GeometryQueries.html#raycasts">Raycasts</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GeometryQueries.html#overlaps">Overlaps</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GeometryQueries.html#penetration-depth">Penetration Depth</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GeometryQueries.html#sweeps">Sweeps</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GeometryQueries.html#additional-pxgeometryquery-functions">Additional PxGeometryQuery functions</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/GeometryQueries.html#pxmeshquery">PxMeshQuery</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/SceneQueries.html">Scene Queries</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#basic-queries">Basic queries</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#touching-and-blocking-hits">Touching and blocking hits</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#query-modes">Query modes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#filtering">Filtering</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#user-defined-hit-callbacks-for-unbounded-results">User defined hit callbacks for unbounded results</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#batched-queries">Batched queries</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#single-object-caching">Single Object Caching</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#pxpruningstructuretype">PxPruningStructureType</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#pxscenequeryupdatemode">PxSceneQueryUpdateMode</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#pxpruningstructure">PxPruningStructure</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/SceneQueries.html#pxbvhstructure">PxBVHStructure</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/Vehicles.html">Vehicles</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#algorithm">Algorithm</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#first-code">First Code</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#snippets">Snippets</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#advanced-concepts">Advanced Concepts</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#more-advanced-concepts">More Advanced Concepts</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#tuning-guide">Tuning Guide</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#troubleshooting">Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Vehicles.html#references">References</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Manual/CharacterControllers.html">Character Controllers</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#kinematic-character-controller">Kinematic Character Controller</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#creating-a-character-controller">Creating a character controller</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#overlap-recovery-module">Overlap Recovery Module</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#character-volume">Character Volume</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#volume-update">Volume Update</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#moving-a-character-controller">Moving a Character Controller</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#graphics-update">Graphics Update</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#auto-stepping">Auto Stepping</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#climbing-mode">Climbing Mode</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#up-vector">Up Vector</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#walkable-parts-invisible-walls">Walkable Parts &amp; Invisible Walls</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#obstacle-objects">Obstacle Objects</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#hit-callback">Hit Callback</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#behavior-callback">Behavior Callback</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#character-interactions-cct-vs-dynamic-actors">Character Interactions: CCT-vs-dynamic actors</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#character-interactions-cct-vs-cct">Character Interactions: CCT-vs-CCT</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#hidden-kinematic-actors">Hidden Kinematic Actors</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#time-stepping">Time Stepping</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#invalidating-internal-geometry-caches">Invalidating Internal Geometry Caches</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#runtime-tessellation">Runtime Tessellation</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/CharacterControllers.html#troubleshooting">Troubleshooting</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Manual/DebugVisualization.html">Debug Visualization</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/DebugVisualization.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/DebugVisualization.html#usage">Usage</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Manual/VisualDebugger.html">PhysX Visual Debugger (PVD)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/VisualDebugger.html#pvd">PVD</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/VisualDebugger.html#basic-setup-sdk-side">Basic Setup (SDK Side)</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/VisualDebugger.html#advanced-setup">Advanced Setup</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Manual/Statistics.html">Simulation Statistics</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Statistics.html#interface">Interface</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Statistics.html#usage">Usage</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Manual/Serialization.html">Serialization</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/Serialization.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Serialization.html#first-code">First Code</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Serialization.html#in-depth-discussion">In-depth Discussion</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Serialization.html#common-use-cases">Common Use Cases</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Serialization.html#snippet-discussion">Snippet Discussion</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Serialization.html#best-practices-troubleshooting">Best practices / Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/Serialization.html#pvd">PVD</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Manual/ExtendingSerialization.html">Extending Serialization</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/ExtendingSerialization.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/ExtendingSerialization.html#overview">Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/ExtendingSerialization.html#binary-serialization-of-custom-classes">Binary Serialization of Custom Classes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/ExtendingSerialization.html#repx-serialization-of-custom-classes">RepX Serialization of Custom Classes</a></li>
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<li class="toctree-l2"><a class="reference internal" href="Manual/BestPractices.html">Best Practices Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#introduction">Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#debugging">Debugging</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#performance-issues">Performance Issues</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#character-controller-systems-using-scene-queries-and-penetration-depth-computation">Character Controller Systems using Scene Queries and Penetration Depth Computation</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#quantizing-heightfield-samples">Quantizing HeightField Samples</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#reducing-memory-usage">Reducing memory usage</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#behavior-issues">Behavior issues</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#gpu-rigid-bodies">GPU Rigid Bodies</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/BestPractices.html#determinism">Determinism</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="Manual/MigrationFrom28.html">Migrating From PhysX SDK 2.x to 3.x</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#removed-features">Removed Features</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#basics">Basics</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#api-design-changes">API Design Changes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#material-indexes">Material Indexes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#continuous-collision-detection">Continuous Collision Detection</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#pose-description">Pose Description</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#shape-description">Shape Description</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#joints">Joints</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#time-stepping">Time Stepping</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#collision-filtering">Collision Filtering</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationFrom28.html#scene-queries">Scene Queries</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="Manual/MigrationTo33.html">Migrating From PhysX SDK 3.2 to 3.3</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#math-classes">Math Classes</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#scene-query-api">Scene Query API</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#spu-batch-queries">SPU batch queries</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#core-physx">Core PhysX</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#physx-extensions">PhysX Extensions</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#physx-character-controller">PhysX Character Controller</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#physx-vehicles">PhysX Vehicles</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#ccd">CCD</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#physx-visual-debugger">PhysX Visual Debugger</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#physx-cloth">PhysX Cloth</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#repx-serialization">RepX Serialization</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#binary-serialization">Binary Serialization</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo33.html#physx-taskmanager">PhysX TaskManager</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/MigrationTo34.html">Migrating From PhysX SDK 3.3 to 3.4</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo34.html#deprecated-apis">Deprecated APIs</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo34.html#core-physx">Core PhysX</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo34.html#contact-generation">Contact Generation</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo34.html#physx-cooking">PhysX Cooking</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo34.html#reference-counting">Reference Counting</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo34.html#physx-visual-debugger">PhysX Visual Debugger</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo34.html#scene-queries">Scene queries</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo34.html#pxextensions">PxExtensions</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="Manual/MigrationTo40.html">Migrating From PhysX SDK 3.4 to 4.0</a><ul>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo40.html#deprecated-apis">Deprecated APIs</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo40.html#physx-particles">PhysX particles</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo40.html#physx-clothing">PhysX clothing</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo40.html#physx-distribution">PhysX distribution</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo40.html#core-physx">Core PhysX</a></li>
<li class="toctree-l3"><a class="reference internal" href="Manual/MigrationTo40.html#physx-extensions">PhysX Extensions</a></li>
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